Place a steamer insert into a saucepan and fill with water to just below the bottom of the steamer. Bring water to a boil. Add asparagus, cover, and steam until slightly tender, 2 to 4 minutes.
Meanwhile, whisk together soy sauce and honey in a small bowl until glaze is smooth.
Set an oven rack about 6 inches from the heat source; preheat the oven broiler. Line a baking sheet with aluminum foil and brush with olive oil.
Place salmon fillet and steamed asparagus on the prepared baking sheet; season with salt and pepper.
Cook under the preheated broiler for 5 minutes. Drizzle 2/3 of the glaze over salmon and asparagus. Continue broiling until fish flakes easily with a fork, 3 to 5 minutes. Drizzle remaining glaze over salmon.